If you are visiting the old city the central area in front of the entrance and around the market place is adjacent to ample parking from which exploration on foot is very easy.
The old city is compact and pedestrianised but you could take a very short ferry across the bay to have a wander on the other side. And view the city from the water.
There was easy parking at the quay about 50 yds from the"Ville Close" and no difficulty getting to the waterside from the road into town. There was no parking charge at that time. That was on a Sunday long ago and the rising tide of tourismmay affect the ease of accomodation and lack of fee.
- Family Travel